Radiotherapy apparatus

ABSTRACT

A radiotherapy apparatus includes a rotatable drum on which is mounted a gantry arm carrying a radiation source. The arm extending from the drum to a location of the radiation source is offset from the axis of rotation of the drum and oriented towards the axis. The radiotherapy apparatus further includes a mechanism configured to apply a tilt to the arm at one or more rotational orientations of the drum. The rotatable drum is supported on wheels beneath the drum, and the mechanism is an eccentric mechanism within the wheels and is configured to apply the tilt to the arm via the wheels.

CROSS REFERENCE TO RELATED APPLICATION

This is a continuation of U.S. application Ser. No. 15/298,443, filedOct. 20, 2016, which is a continuation of U.S. application Ser. No.14/524,605, filed Oct. 27, 2014, which claims the benefits of priorityto GB 1318983.2, filed on Oct. 28, 2013. Each of the applications isincorporated herein by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates to radiotherapy apparatus.

BACKGROUND ART

Many designs of radiotherapy apparatus employ a radiation source mountedon a gantry arm that is rotatable around a patient support on which apatient can be placed for treatment. The usual geometry for this is toprovide a circular-section rotatable drum oriented in a vertical plane,i.e. with its axis of symmetry and rotation in a horizontal plane, andmount the gantry arm onto the drum, offset from the axis. The source isthen mounted at the end of the gantry arm, oriented so that the beamthat it produces is directed towards the axis. The point at which thecenter of the beam meets the axis is known as the “isocentre”. Thus, asthe drum rotates, the beam arrives at the isocentre from all angulardirections within a vertical plane. This is an important aspect of theradiotherapy treatment, as it allows a sufficient dose to be deliveredto a target volume while minimizing the dose delivered to surroundinghealthy tissue.

Usually, the rotating drum is supported on four main wheels beneath thedrum, arranged in two angularly-offset pairs, one pair at a front edgeof the drum and one pair at a rear edge. The drum and the gantry arm areusually substantial items in order to support the weight of theradiation source mounted in the arm and at the end thereof. Despitethis, there will be some small degree of flexure in the gantry arm,resulting in a “droop” effect, i.e. an unintended movement of theisocentre. With the gantry at the top of the drum (defined as 0° ofrotation) the movement of the isocentre Is along the axis towards thedrum, whereas at 180° rotation with the gantry at the bottom of thedrum, the movement of the isocentre is along the axis away from thedrum. Whilst this is a known, measurable effect that can be planned andcompensated for during treatment it would be additionally beneficial tominimize the effect where possible.

SUMMARY OF THE INVENTION

If this movement could be reduced, then the accuracy of delivery of theradiation dose could be improved. Hitherto, this has been seen as amechanical problem to be solved by stiffening the drum and the gantryarm, but this usually results in an increase in the weight of the movingparts.

We propose a different approach, according to which a variable tilt isapplied to the gantry depending on its rotational orientation. This tiltcan act in opposition to the droop and return the radiation source toits correct location and orientation.

This tilt could be achieved in one of a number of ways. A mechanicalactuator within the drum or beneath the wheels on which it rotates couldbe driven in response to a rotation sensor in order to tilt the gantryand/or the drum. The drum itself could be made non-circular in at leastsome of the areas that are supported by the wheels, so that the rotationis not completely smooth but causes the drum to tilt as it rotates.Alternatively, the wheels can be arranged to lift and/or lower as thedrum rotates.

A mechanism within the wheels could use an eccentric mechanism in orderto adjust the position of the wheels as they rotate. Generally, thewheels will have a much smaller radius than that of the drum, so tosynchronize the movement of the wheels with the rotation of the drum, agearing arrangement such as an epicyclic gear can be employed. Theepicyclic gear can include the eccentric mounting.

An epicyclic gear arrangement essentially comprises a sun wheel, aplanetary gear, and an annulus, and in this implementation the SLJnwheel can be fixedly attached to a bearing surface of the wheel, theplanetary gear mounted eccentrically on a supporting base, and theannulus held in a non-rotating relationship with the supporting base.

A further possibility is to make non-circular at least one of thecircumferential bearing surface or surfaces by which the rotating drumis supported on wheels.

BRIEF DESCRIPTION OF THE DRAWINGS

An embodiment of the present invention will now be described by way ofexample, with reference to the accompanying figures in which;

FIG. 1 shows a vertical cross-section through a radiotherapy apparatus,shown in schematic form;

FIGS. 2a to 2d show the adjustments needed to the gantry arm in order tocorrect for droop;

FIGS. 3 and 4 show side and front views respectively of an epicyclicgear arrangement for a supporting wheel for use in the presentinvention, FIG. 4 in schematic form;

FIGS. 5 and 6 show a third embodiment of the present invention;

FIG. 7 shows a fourth embodiment of the present invention; and

FIG. 8 shows a fifth embodiment of the present invention.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Referring to FIG. 1, a radiotherapy apparatus comprises a radiationsource 10 which emits a beam of radiation along a beam axis 12. Thesource 10 is mounted on a gantry arm 14 which is itself supported by arotatable drum 16. The drum is arranged vertically, i.e. with its axis18 of rotational symmetry substantially horizontal, and is able torotate about that axis 18 carrying with it the gantry arm 14 and thesource 10. An electrical drive motor is provided (not shown) in order todrive rotation of the drum 16 when required, and in the directionrequired. The arm 14 is mounted to the drum 16 so as to support thesource 10 at a location offset from the rotation axis 18 but pointingtowards the rotation axis 18. The location 20 at the meeting point ofthe beam axis 12 and the rotation axis 18 is referred to as the“isocentre” 20. Thus, as the drum 16 rotates, the source rotates aroundthe isocentre, directing a beam toward that isocentre continuously. Thisis useful during treatment, as a dose can be applied to a target volumelocated at the isocentre with only a brief or limited irradiation of thesurrounding tissue.

The drum 16 is supported during its rotation by wheels. These arearranged (in this example) as a set of four wheels, two wheels 22supporting a front edge of the drum 16 and two wheels 24 supporting arear edge of the drum 16. The wheels in each pair are located eitherside of the lowest point of the drum 16, thus defining a rectangularpattern and supporting the drum 16. The wheels are mounted on a suitablyrigid base 26, usually able to freewheel (although see later for certainembodiments).

FIG. 2 shows how the position of the gantry 14 and the source 10 can beadjusted by way of an adjustment of the supporting wheels. Both thegantry and the source are of course subject to the influence of gravity,and thus as the source 10 rotates, gravity will cause elasticdeformation of the gantry 14 due to the substantial weight of the source10. FIG. 2a-2d show how a raising and lowering action on the supportingwheels can be used to provide a correction to the isocentre position; ineach case in FIGS. 2b and 2d the correction operates by moving theapparatus from the position shown in solid lines to the position shownin dotted lines.

FIGS. 2a and 2c show the source at the 270° and 90° positionsrespectively. Some deformation of the gantry arm 14 is apparent at theseangles, generally having the effect of lowering the beam isocentretowards the ground. The effect of this is not as great as thedeformation at the 0° and 180° positions, so at this stage theembodiments focus on ameliorating the latter. The 90° and 270°deformations may benefit from similar treatment in future.

FIG. 2b shows the source in the 0° position, i.e. at its highest pointand directed substantially vertically downwards. In this position, anelastic deformation of the gantry arm 14 will tend to cause the source10 to “droop”, resulting in the source 10 pointing slightly towards thedrum 16 (the droop is exaggerated for clarity). This adjustment of thebeam axis 12 tends to draw the isocentre towards the drum 16 slightly.This can be counteracted by slightly raising the front wheels as shownin FIG. 2b (or by lowering the rear wheels), leaning the entireapparatus out away from the drum position shown in the solid line tothat shown in the dotted line and moving the isocentre outward.

Conversely, with the source at the 180° position as shown in FIG. 2d ,the elastic deformation of the gantry arm 14 tends to tilt the source 10outwards so that the beam axis is slightly divergent away from the drum16. This therefore moves the isocentre slightly away from the drum 16,and can be counteracted by slightly raising the front wheels as shown(or by lowering the rear wheels) in order to angle the beam more towardsthe drum.

Thus, one way of correcting for the droop effect, according to a firstembodiment of the present invention, is to adjust the position of thedrum 16 via the wheels 22, 24. An upward adjustment of the front wheels22, or a downward adjustment of the rear wheels 24, will tend to adjustthe isocentre position away from the drum 16, and vice versa (i.e.lowering the front wheels or raising the rear wheels adjusts theisocentre position towards the drum). Thus, this can be used tofine-tune the isocentre position and counteract the influence ofgravity.

The heights of the wheels 22, 24 could be adjusted via a cam surfacewithin the wheel mountings, for example, or by any suitable mechanism.Our preferred mechanism is shown in FIGS. 3 and 4 and comprises anepicyclic gear train within the wheel itself. FIG. 3 shows the geartrain in section, mounted on a rigid stub axle 50. A planetary gearcarrier 52 is mounted eccentrically on the stub axle 50 and carries aset of four planetary gears 54, each spaced equally from the eccentriccenter 56 of the planetary gear carrier 52. More planetary gears 54could be provided, such as 5 or 6, to give a smoother action.Alternatively, fewer gears such as 2 or 3 could be provided to reducethe weight and complexity of the device. The choice may also beinfluenced by the gear ratio, as a smaller planet gear set may allow forand benefit from a larger number of gear wheels. The planetary gears 54engage with a sun wheel 58 located radially within the planetary gears54 and journaled to rotate freely around the planetary gear carrier 52on a set of bearings 60. An annular ring gear 62 is provided around andengaging with the planetary gears 54; this is prevented from rotation byengagement of a pin 64 in a slot 66 formed in the base on which the stubaxle 50 is provided.

The sun gear 58 includes a flange section with two sections a firstsection 68 that extends radially outwardly, spaced axially away from theplanetary gears 54, the planetary gear carrier 52, and the annular ringgear 62, and a second section 70 that extends axially away from an outerend of the first section 68 to provide a circumferential cover aroundthe epicyclic gear arrangement. The circumferential outer face of thesecond section 70 defines the outer bearing face of the wheel.

Thus, as the drum 16 rotates it will drive the wheel via the outer faceof the second section 70, and hence drive the sun gear 58. This, inturn, will drive the planetary gears 54 around within the annulus 62. Asthe planetary gear carrier 52 moves, its eccentric mounting on the stubaxle 50 will cause it to oscillate, carrying with it the sun gear andhence the wheel bearing surface. The annular ring gear 62 will alsooscillate, but will be confined to a back and forth linear motion by theengagement of the pin 64 in the slot 66. The rate of the oscillationwill depend on the gear ratio of the epicyclic, which can therefore bechosen to reflect the ratio of the drum radius to the wheel radius.

By choosing an appropriate gear ratio, the wheel can be made to completeone complete oscillation with one complete rotation of the drum 16. Itshould be noted that FIGS. 3 and 4 are not to scale and (for thepurposes of clarity) do not illustrate a suitable gear ratio. Thus, atthe 0° position of the drum, the rear wheels 24 can be aligned so as tolift the drum slightly and correct the droop of the gantry arm 14. Thedegree of lift is of course determined by the degree of eccentricity ofthe planetary gear carrier 52 around the stub axle 50. Likewise, withthe gantry at the 180° position, the rear wheels will have completedhalf an oscillation (relative to the 0° position) and will be at theftlowest point, thus counteracting the opposite droop of the gantry arm 14at that point. The vertical motion of the wheel is sinusoidal, whichmatches the movement of the isocentre which is also sinusoidal due tothe action of gravity on the cantilevered beam arm as it rotates.

It is also possible to raise/lower the front wheels, but it is better tokeep the pivot as far forward as possible as this gives more horizontalmovement of the isocentre from a specific vertical movement of thewheels. It is therefore best to raise/lower the rear wheels. Inpractice, the space envelope around the rear wheels is also greater,giving more room for the mechanism.

As can be seen in FIG. 2, the hub of each of the rear wheels rotates inopposite directions. This is to stabilize the drum by preventingsideways translation of the gantry as it rotates. To achieve this, onewheel should be as described above and illustrated in FIG. 4, while theother should be as illustrated in FIG. 3 with each planetary gear 54being a reversing gear, such as being made of two smaller gears engagingwith each other, one of which engages with the sun gear 58 and oneengaging with the annular ring gear 62.

As noted above, the annular gear 62 is held in a non-rotatingrelationship with the base. This can be by way of a pin or bladeextending from the annulus into a radially-arranged slot in the base (orvice-versa).

The gantry wheel may drift over time relative to the drum, due to thedrum skidding over the wheel. Thus, an indexing device will bepreferred. This could be in the form of a feature on the drum engagingwith the wheel at regular intervals, such as a gear or tooth, or by wayof a high-friction surface on one or both of the wheel and drum, or thelike.

An alternative solution, according to a second embodiment of the presentinvention, is to adjust the mounting of the gantry arm 14 within thedrum 16. As only a very small adjustment is needed, and the loadtransmitted from the arm to the drum is large, we expect this to bedifficult but achievable through the use of levered cam surfaces drivenby suitable actuators.

FIGS. 5 and 6 show a third embodiment in schematic form, illustratedfrom the front of the apparatus and along the axis of rotation of thedrum. Thus, the drum 100 is supported in the manner shown in FIG. 1 by aset of four wheels. Two rear wheels (not shown) support a rear rim 102of the drum 100, and two front wheels 104, 106 support a front rim 108of the drum 100. A radiation source 110 is mounted on the drum via agantry and emits a beam 112 towards the rotation axis of the drum 100.

The drum thus carries the two rims via which it is supported, the rearrim 102 and the front rim 108. These will usually be defined by asuitable rigid bearing surface along which the wheels 104, 106 etc roll.The rear rim 102 is (in this embodiment) circular, centred on therotation axis of the drum 166 and thus rotationally symmetric aroundthat axis. However, the front rim 108 is slightly non-circular, having asmooth indentation 140 compared to the circular rear rim 102 (shown indotted lines). Otherwise, the front rim 108 is circular. Thisindentation 114 is located opposite the radiation source 110, so whenthe source 110 is at the 0° position (FIG. 6) the front rim of the drum100 will be avowed to rest slightly lower than the rear rim 102. Thiswill therefore tilt the drum slightly toward the isocentre in the mannerof FIG. 2b , correcting the droop of the gantry arm under gravity. Withthe source 100 at the 180° position, the front rim 108 (of thisembodiment) is being supported at a circular portion thereof.

This means that at the 180° position, the drum is at its “default”position. That default position (and that of the wheels, gantry andsource) can be adjusted so that the appropriate gravity compensation ismade at the 180° position, and then reversed by the indentation 114 atthe 0° position. Alternatively, the absence of compensation at the 180°position can simply be accepted. In another alternative, the front rim108 can be given a protrusion opposite the indentation 114, to tilt thedrum 100 in the opposite direction at the 180° positron. Indeed, theindentation 114 on the front rim 108 could be replaced with a protrusionon the rear rim 102. In a further alternative, the rear rim 102 can begiven an indentation opposite that of the front rim 108. Of course, thevarious alternatives could be combined, with some degree of indentationor protrusion on both rims so as to secure the desired tilt at allpoints of the rotation of the drum 100.

FIG. 7 schematically illustrates a version of the rear rim 102 with sucha protrusion 116.

FIG. 8 schematically illustrates a fifth embodiment which offers thepotential for greater control of the drum orientation at a wider rangeof angles. It entails splitting the front (and/or rear) rim into twosub-rims 118, 120 and offsetting the two wheels 104, 106 that supportthe rim so that the wheel 104 on one side supports one sub-rim 118 andthe wheel 106 on the other side supports the sub-rim 120. We prefer thatthe two sub-rims are adjacent, although they may have an upstandingridge between them in order to prevent a wheel slipping onto the wrongrim. In this example, the two sub-rims 118, 120 each have a protrusion122, 124 respectively, spaced 90° apart. Thus, at one position of thedrum both protrusions 122, 124 meet the wheels and a maximum lift isobtained. This design flexibility could be used in order to tailor theprecise orientation of the drum, offering many degrees of freedom giventhe four wheels supporting the drum and the ability to engineerprotrusions and indentations around the circumference of (potentially)four corresponding sub-rims. This could be used to compensate forgravity-induced droop at all rotational positions.

It will be appreciated that in all of FIGS. 5 to 8, the variousdeviations from circularity are grossly exaggerated in order to renderthem visible. In practice, the deviations are likely to be of asub-millimetre order.

It will of course be understood that many variations may be made to theabove-described embodiment without departing from the scope of thepresent invention.

The invention claimed is:
 1. A radiotherapy apparatus, comprising: arotatable drum on which is mounted a gantry arm carrying a radiationsource, wherein the arm extending from the drum to a location of theradiation source is offset from an axis of rotation of the drum; atleast one wheel arranged beneath the rotatable drum and having an outerwheel surface configured to rotate as the rotatable drum rotates; and agear mounted eccentrically on an axle and coupled to the at least onewheel, wherein: the gear is configured to move as the rotatable drumrotates and as the at least one wheel rotates, the movement of the gearis configured to cause the outer wheel surface to oscillate, therotatable drum is supported on the at least one wheel arranged beneaththe drum, and the movement of the gear is configured to apply a tilt tothe arm via the at least one wheel at one or more rotationalorientations of the drum.
 2. The radiotherapy apparatus of claim 1,wherein: the at least one wheel rotates about a wheel axis; and themovement of the gear is configured to cause the wheel axis to oscillateas the rotatable drum rotates about the axis of rotation of the drum. 3.The radiotherapy apparatus of claim 1, wherein the outer wheel surfacemoves upward toward the rotatable drum as the outer wheel surface iscaused to oscillate during rotation of the rotatable drum.
 4. Theradiotherapy apparatus of claim 1, wherein a rate at which the outerwheel is caused to oscillate is based at least on a ratio of a radius ofthe rotatable drum to a radius of the at least one wheel.
 5. Theradiotherapy apparatus of claim 1, wherein the outer wheel is caused tomake one complete oscillation with one complete rotation of therotatable drum.
 6. The radiotherapy apparatus of claim 1, wherein the atleast one wheel includes at least four wheels arranged in twoangularly-offset pairs, and wherein one pair is located at a front edgeof the rotatable drum and one other pair is located at a rear edge ofthe drum.
 7. The radiotherapy apparatus of claim 6, further comprising amechanical actuator within the rotatable drum or beneath the wheels onwhich the rotatable drum rotates, the mechanical actuator beingconfigured to be driven in order to tilt the arm or the rotatable drumin response to a rotation sensor.
 8. The radiotherapy apparatus of claim6, wherein each of the pair of wheels located at the rear edge of thedrum is configured to rotate in opposite directions to preventtranslation of the gantry.
 9. The radiotherapy apparatus of claim 1,wherein the rotatable drum comprises at least one of a gear or a toothconfigured to engage the at least one wheel to prevent drifting of theat least one wheel relative to the drum.
 10. The radiotherapy apparatusof claim 1, wherein the at least one wheel comprises at least one of agear or a tooth configured to engage the rotatable drum to preventdrifting of the at least one wheel relative to the drum.
 11. Theradiotherapy apparatus of claim 1, wherein: the rotatable drum comprisesa front rim and a rear rim; and at least one of the front rim or therear rim comprises at least one of an indentation or a protrusion toapply the tilt to the arm at one or more rotational orientations of thedrum.
 12. A radiotherapy apparatus, comprising: a rotatable drum onwhich is mounted a gantry arm carrying a radiation source, wherein thearm extending from the drum to a location of the radiation source isoffset from an axis of rotation of the drum; at least one wheel arrangedbeneath the rotatable drum and having an outer wheel surface configuredto rotate about a wheel axis as the rotatable drum rotates; and a gearmounted eccentrically on an axle and coupled to the at least one wheel,wherein: the gear is configured to move as the rotatable drum rotatesabout the axis of rotation of the drum and as the at least one wheelrotates, the movement of the gear is configured to cause the outer wheelsurface to oscillate, the rotatable drum is supported on the at leastone wheel arranged beneath the drum, and the movement of the gear isconfigured to apply a tilt to the arm via the at least one wheel at oneor more rotational orientations of the drum.
 13. The radiotherapyapparatus of claim 12, wherein the outer wheel surface moves upwardtoward the rotatable drum as the outer wheel surface is caused tooscillate during rotation of the rotatable drum.
 14. The radiotherapyapparatus of claim 12, wherein a rate at which the outer wheel is causedto oscillate is based at least on a ratio of a radius of the rotatabledrum to a radius of the at least one wheel.
 15. The radiotherapyapparatus of claim 12, wherein the outer wheel is caused to make onecomplete oscillation with one complete rotation of the rotatable drum.16. The radiotherapy apparatus of claim 12, wherein the at least onewheel includes at least four wheels arranged in two angularly-offsetpairs, and wherein one pair is located at a front edge of the rotatabledrum and one other pair is located at a rear edge of the drum.
 17. Theradiotherapy apparatus of claim 16, further comprising a mechanicalactuator within the rotatable drum or beneath the wheels on which therotatable drum rotates, the mechanical actuator being configured to bedriven in order to tilt the arm or the rotatable drum in response to arotation sensor.
 18. The radiotherapy apparatus of claim 16, whereineach of the pair of wheels located at the rear edge of the drum isconfigured to rotate in opposite directions to prevent translation ofthe gantry.
 19. The radiotherapy apparatus of claim 12, wherein therotatable drum comprises at least one of a gear or a tooth configured toengage the at least one wheel to prevent drifting of the at least onewheel relative to the drum.
 20. The radiotherapy apparatus of claim 12,wherein the at least one wheel comprises at least one of a gear or atooth configured to engage the rotatable drum to prevent drifting of theat least one wheel relative to the drum.